Naslov
Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction

Autori
Petrović, Ivan ; Baotić, Mato ; Matić, Luka ; Perić, Nedjeljko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD-ROM Proceedings of 10th European Conference on Power Electronics and Applications, EPE2003 / - Toulouse, 2003

Skup
10th European Conference on Power Electronics and Applications, EPE2003

Mjesto i datum
Toulouse, Francuska, 02.09.2003. - 04.09.2003

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Control; Modeling; Motion control; Servo drives

Sažetak
In this paper hybrid theory has been applied to design a state-feedback control law of an electrical drive with friction. The drive is modeled as a piecewise affine (PWA) system and a finite time optimal control problem is formulated for such a hybrid system. Three most often used friction models are considered and compared based on their suitability for the PWA description. It is shown that a reset-integrator friction model gives a PWA model of smaller complexity than LuGre and Karnopp friction models. A state-feedback optimal control law in a form of a look-up table is then derived via dynamic programming. The control system behavior is tested by computer simulations. The results indicate that the proposed control strategy is a valuable alternative to the currently used control strategies.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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